CN109592398A

CN109592398A - A kind of transfer robot

Info

Publication number: CN109592398A
Application number: CN201811519476.0A
Authority: CN
Inventors: 不公告发明人
Original assignee: Fujian Mailiao Automation Equipment Co Ltd
Current assignee: Beijing hongtaizhi manufacturing workshop operation management Co.,Ltd.
Priority date: 2018-12-12
Filing date: 2018-12-12
Publication date: 2019-04-09
Anticipated expiration: 2038-12-12
Also published as: CN109592398B

Abstract

The invention belongs to carry field of automation technology, more particularly to a kind of transfer robot, it includes pedestal, universal wheel, driving mechanism, support rod, executing agency, thread bush etc., wherein transfer robot of the invention can carry out access goods movement by the respective execution mechanisms on control support rod come the shelf to the different height in L-type support frame, transfer robot is enabled disposably to carry more than one piece cargo, to improve the handling efficiency of transfer robot.Pass through second gear, the design of the 4th shaft, first motor, thread bush and third gear, support rod can be made to have the function of lifting, to which executing agency is by way of lifting and the shelf of higher height carry out access goods accordingly on support rod, and then transfer robot can more efficiently be cooperated from different shelf mechanisms, more improve the handling efficiency of transfer robot, more storage capacity of the raising shelf mechanism to container.The configuration of the present invention is simple has preferable using effect.

Description

A kind of transfer robot

Technical field

The invention belongs to carry field of automation technology more particularly to a kind of transfer robot.

Background technique

With the fast development of logistic industry and machine intelligence, now to the efficiency of carrying and the access of container in logistics It is higher and higher.For example when carrying electric business container in the warehouse of electric business, in order to save manual handling costs, and greatly improve carrying Efficiency, the warehouse of many electric business has used intelligent robot when carrying to container now；But current city Intelligent transfer robot on face mainly carries out carrying access to single-piece container；In order to make intelligent transfer robot more Add raising handling efficiency, so with regard to needing to design a kind of intelligent carrying implement that can carry to more than one piece container access simultaneously Device people.

The present invention design a kind of transfer robot solve the problems, such as it is as above.

Summary of the invention

To solve drawbacks described above in the prior art, the present invention discloses a kind of transfer robot, it is using following technology Scheme is realized.

In the description of the present invention, it should be noted that the indicating positions such as term "inner", "lower", "upper" or position are closed System be orientation based on the figure perhaps positional relationship or the invention product using when the orientation or position usually put Set relationship, it is only for convenient for the description present invention and simplify description, rather than the device or element of indication or suggestion meaning must There must be specific orientation, be constructed or operated with specific orientation, therefore be not considered as limiting the invention.In addition, art Language " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.

A kind of transfer robot, it is characterised in that: it includes pedestal, shell, universal wheel, driving mechanism, support rod, execution Mechanism, thread bush, first motor, fixing sleeve, third gear, third L-type plate, wherein pedestal is equipped with shell；The following table of pedestal Face one end is symmetrically installed there are two universal wheel, and the other end is symmetrically installed that there are two driving mechanisms；It is fixedly mounted on base upper surface There are first motor, third L-type plate and fixing sleeve；The keyway penetrated through there are two symmetrically being opened on the inner headed face of fixing sleeve；Thread bush One end is mounted on third L-type plate far from one end circular hole of pedestal by bearing, and the other end is fixedly installed with third gear；First Motor drives the rotation of third gear by the combination of gear and axis；There is internal screw thread on the inner headed face of thread bush；Thread bush and solid Surely the central axes covered are conllinear；It is symmetrically installed on one end periphery of support rod there are two lead key, is had on the periphery of support rod One section of external screw thread and this section of external screw thread close to lead key, the one end of support rod far from lead key between external screw thread along support pole length side To being equably provided with multiple annular grooves；There is support rod one end of lead key to be mounted in fixing sleeve by way of being slidably matched, and two A lead key is separately mounted in two keyways by way of being slidably matched；Support rod is pierced by thread bush and shell, and support rod On the internal screw thread of external screw thread and thread bush be mutually threadedly engaged；One executing agency is installed at each annular groove of support rod, And executing agency is respectively positioned on the upside of shell.

Above-mentioned executing agency includes wobble plate, the second support plate for being fixedly mounted on wobble plate one end upper surface, is fixedly mounted on The oblique support plate of wobble plate side, the second arc panel B, servo motor, is fixedly mounted on above-mentioned support rod the second arc panel A Fixed gear, scroll spring, the second shaft, first gear, wherein wobble plate is opened installation circular hole by one end and is covered in above-mentioned branch On the corresponding annular groove of strut, and wobble plate is rotatably assorted with support rod formation；Second shaft is mounted on the second support plate by bearing In the circular hole of upper end, and the both ends of the second shaft are fixedly installed with the second arc panel A and the second arc panel B respectively；Second arc panel A Upper surface it is mutually coplanar with the upper surface of the second arc panel B, the center of circle locating for the radian of the second arc panel A and the second arc panel B Radian locating for the center of circle it is concentric；The end face of the one end of oblique support plate far from wobble plate is horizontal plane；Second shaft is equipped with scrollwork Spring, when the second arc panel A and the second arc panel B are when in a horizontal state, scroll spring is in compressive state；Servo motor is solid Dingan County is in wobble plate；Fixed gear is close to wobble plate；First gear is connected by axis with the motor shaft of servo motor；First tooth Wheel is meshed with fixed gear；Second arc panel A and the second arc panel B are matched with the horizontal plane of oblique support plate.

Above-mentioned driving mechanism has the second motor and driving wheel, and the second motor rotates driving wheel.

As the further improvement of this technology, shelf mechanism includes L-type support frame and shelf, and wherein L-type support frame is by cross Plate and riser are constituted；Multiple shelf are equably installed along the length direction of L-type support frame riser.

Above-mentioned shelf are fixed including the first support plate, the first arc panel A, inclined plate A, the first arc panel B, inclined plate B, first Plate, the first L-type plate, wherein one end of the first support plate is fixedly mounted on the riser of L-type support frame, the other end is fixedly installed with First arc panel A；One end of first L-type plate is fixedly mounted on the riser of L-type support frame, and it is solid that the other end is fixedly installed with first Fixed board；First fixed plate is fixedly installed with the first arc panel B far from one end of the first L-type plate；The upper surface of first arc panel A and The upper surface of first arc panel B is mutually coplanar, and the acute angle that the upper surface of the first arc panel A and horizontal plane are constituted is 8 degree~12 Between degree；The center of circle locating for radian of the center of circle locating for the radian of first arc panel A with the first arc panel B is concentric；The one of inclined plate A End is fixedly mounted on the upper surface of the first arc panel A；One end of inclined plate B is fixedly mounted on the upper surface of the first arc panel B； Inclined plate A is mounted on the installation point of the first arc panel A and inclined plate B is mounted on line and L that the installation point of the first arc panel B is constituted The riser of type support frame is perpendicular；Inclined plate A is coplanar with inclined plate B；The acute angle that inclined plate A and horizontal plane are constituted 40 degree~50 degree it Between；Inclined plate A is identical with inclined plate B size.

As the further improvement of this technology, the second arc panel A and the second arc panel B in above-mentioned respective execution mechanisms with The first arc panel A and the first arc panel B in corresponding shelf mechanism are matched；Second arc panel A in above-mentioned respective execution mechanisms Intrados and the second arc panel B extrados between spacing be named as D1；First arc panel A in above-mentioned corresponding shelf mechanism Intrados and the first arc panel B extrados between spacing be named as D2；D2 is greater than D1.Pass through rationally setting to D2 and D1 Meter, then the second arc panel A and the second arc panel B are passing through the first arc panel A and the first arc in the case where D2 is greater than D1 During spacing between plate B, when the second arc panel A and the second arc panel B surround the axis oscillating of the second shaft, the second arc Plate A and the second arc panel B will not generate interference with the first arc panel A and the first arc panel B.

As the further improvement of this technology, it further includes middle control module and navigation module, wherein middle control module is mounted on On above-mentioned pedestal, and middle control module is located in shell；Navigation module is mounted on the outside of shell；Middle control module control is above-mentioned to be watched Take motor, first motor and the second motor；Navigation module carries out path navigation to robot and apart from identification.

As the further improvement of this technology, it further includes second gear, the 4th shaft, third support plate, the first deceleration Device, wherein above-mentioned third L-type plate is made of transverse slat and riser；Third support plate is fixedly mounted on the riser of third L-type plate；On It states first motor to be located under the transverse slat of third L-type plate, and first motor is located under third support plate；First motor is located at the Between the riser and above-mentioned fixing sleeve of three L-type plates；Above-mentioned third gear is located under the transverse slat of third L-type plate；First retarder It is mounted in first motor, and the first retarder is mutually sequentially connected with first motor；4th shaft is mounted on third by bearing In one end circular hole of riser of the support plate far from third L-type plate, one end of the 4th shaft is connected with the first retarder, and the other end is solid Dingan County is equipped with second gear；Second gear is meshed with above-mentioned third gear.

As the further improvement of this technology, above-mentioned driving mechanism further includes that the second fixed plate, the second retarder, third are solid Fixed board, the 4th fixed plate for being fixedly mounted on base lower surface, wheel shaft, driving wheel, wherein above-mentioned second motor is solid by second Fixed board is fixedly mounted on the lower surface of pedestal；Second retarder is mounted on the lower surface of pedestal by third fixed plate；The Two retarders are mutually sequentially connected with the second motor；Wheel shaft is mounted in the circular hole of the 4th fixed plate by bearing, one end of wheel shaft Driving wheel is installed, the other end is connected with the output end of the second retarder.

As the further improvement of this technology, above-mentioned executing agency further includes first rotating shaft, the second L-type plate, A square hole, the side B Hole, link block, third shaft, one-way clutch, position-limited wheel, wherein one end of the second L-type plate is fixedly mounted on above-mentioned wobble plate On upper surface, and the second L-type plate is close to above-mentioned support rod；Above-mentioned servo motor is located at the upper surface of wobble plate；First rotating shaft passes through Bearing is mounted on the second L-type plate far from one end circular hole of wobble plate, and one end of first rotating shaft and the motor shaft of servo motor are mutually solid Even；Above-mentioned first gear is fixedly mounted on first rotating shaft far from one end of servo motor.

Above-mentioned scroll spring is two；Two scroll springs cover in above-mentioned second shaft, and two scroll springs are located at The two sides of above-mentioned second support plate, two scroll springs are between the second arc panel A and the second arc panel B；Two scrollwork bullets Periphery of the one end of spring respectively with the second shaft is fixedly connected with, and the other end passes through link block respectively and is mounted on above-mentioned second support plate Respective side on.

The A square hole of perforation is provided on above-mentioned second arc panel A；The B square hole of perforation is provided on above-mentioned second arc panel B；The side A Hole and B square hole are located at the two sides of above-mentioned second support plate；A square hole is identical with institute's mounting structure in B square hole, for A square hole: third Shaft is mounted between A square hole two sides；One-way clutch is mounted on the periphery of third shaft, the outer circle of one-way clutch Position-limited wheel is installed on face；Position-limited wheel part periphery is pierced by the upper surface of the second arc panel A, and position-limited wheel is pierced by the second arc panel The distance of the highest point of the upper surface of A to the upper surface of the second arc panel A is suitable between 1 millimeter~3 millimeters.Such design Container nowel face and the upper surface of the upper surface of the second arc panel A, the second arc panel B are in contact substantially, under container Case face can generate to squeeze with position-limited wheel and contact, so that there are larger frictions between container and position-limited wheel.

The above-mentioned one end of second arc panel A far from oblique support plate is less than to the distance of the second shaft, and the second arc panel A is leaned on Distance of the one end of nearly oblique support plate to the second shaft；The above-mentioned one end of second arc panel B far from oblique support plate is to the second shaft Distance, be less than, the second arc panel B is close to one end of oblique support plate to the distance of the second shaft.The reason of designing in this way is: Using the second arc panel A and the second arc panel B on shelf carry out picking when, in order to guarantee the second shaft and the second arc panel The connected contact B point of A is located at the front end of container center of gravity, and container rear end can also be supported by the second arc panel A and the second arc panel B Firmly, so setting the both ends distance of the second arc panel A and the second arc panel B.

As the further improvement of this technology, elastic rake tooth is circumferentially evenly distributed on the periphery of above-mentioned position-limited wheel. Elastic rake tooth can increase limit when may slide downwards to container, further prevent container from the second arc panel A and second It is slided down on arc panel B.In addition, since elastic rake tooth has elasticity, then under the weight of container, elastic rake tooth It is easy to be further decreased the nowel face due to elastic rake tooth to container caused by container support and the second arc by compressive deformation Plate A, the second arc panel B CONTACT WITH FRICTION area reduce the case where, relatively ensure that container nowel face and the second arc panel A, the second arc panel B has biggish CONTACT WITH FRICTION area.

As the further improvement of this technology, when the second arc panel A is when in a horizontal state, above-mentioned second arc panel A's Upper surface is higher than end face of second support plate far from wobble plate；When the second arc panel surrounds the axis oscillating of the second shaft, second The one end of support plate far from wobble plate does not pass through the upper surface of the second arc panel always.Such design requirement is: the second arc Shape plate A and the second arc panel B is during the spacing across the first arc panel A and the first arc panel B, the second arc panel A When surrounding the axis oscillating of the second shaft with the second arc panel B, the second arc panel A and the second arc panel B can generate container and push away Dynamic and supporting role, the one end of the second support plate far from wobble plate will not with the nowel face contact of container, guarantee the second arc panel A and Second arc panel B smoothly can access goods to container on shelf.

As the further improvement of this technology, the upper surface of above-mentioned second arc panel A and the second arc panel B are friction Face.Such design is, when container is located on the upper surface of the second arc panel A and the second arc panel B, in the second arc panel When A and the second arc panel B are in heeling condition, under this state, since the upper surface of the second arc panel A and the second arc panel B are equal For rubbing surface, container is by the friction between the second arc panel A, the second arc panel B without from the second arc panel A and second Arc panel B slides.

There is support rod one end of lead key to be mounted in fixing sleeve by way of being slidably matched, and two lead keys pass through sliding The mode of cooperation is separately mounted in two keyways；So under the action of two lead keys, support rod can not be rotated, in addition Two lead keys can guarantee that support rod moves axially in fixing sleeve.Two lead keys always follower's support rod in corresponding keyway In move up and down.The design that the internal screw thread of external screw thread and thread bush on support rod is mutually threadedly engaged is: first, when the second tooth When wheel drives third gear to rotate clockwise, third gear drives thread bush to rotate clockwise, then the outer spiral shell on support rod The internal screw thread of line and thread bush is mutually threadedly engaged down, and support rod axially upwardly moves；Second, when second gear drives third gear Counterclockwise when rotation, third gear drives thread bush to rotate counterclockwise, then in the external screw thread and thread bush on support rod Screw thread is mutually threadedly engaged down, and support rod moves axially downwards.

The both ends of second shaft are fixedly installed with the second arc panel A and the second arc panel B respectively, and the second arc panel A's is upper Surface is mutually coplanar with the upper surface of the second arc panel B, then the second arc panel A and the second arc panel B can be around the second shaft Axis synchronous hunting.

The design that second arc panel A and the second arc panel B are matched with the horizontal plane of oblique support plate is: first, when Second arc panel A and the second arc panel B are when in a horizontal state, and scroll spring is in pre-compressed state, the second arc panel A following table Face and the lower surface of the second arc panel B fit with the horizontal plane of oblique support plate, then oblique support plate can be to the second arc panel A Good supporting role is played with the second arc panel B；Since scroll spring is in pre-compressed state, then the reset of scroll spring Power can guarantee the second arc panel A and the second arc panel B when not by external force, the second lower surface arc panel A and the second arc The lower surface of plate B can generate with the horizontal plane of oblique support plate be bonded always.Second, from first gear to the side of the second arc panel A To seeing, when the second arc panel A and the second arc panel B surrounds the axis counter-clockwise swing of the second shaft, the second shaft is counterclockwise Rotation, scroll spring continuation are compressed, and the second arc panel A and the second arc panel B are detached from the horizontal face contact with oblique support plate.The Three, from first gear to the direction of the second arc panel A in terms of, when the second arc panel A and the second arc panel B surround the second shaft axis When line clockwise oscillation, the maximum position of the clockwise oscillation of the second arc panel A and the second arc panel B is, under the second arc panel A The position that surface and the lower surface of the second arc panel B fit with the horizontal plane of oblique support plate, under this state two arc panel A and The axis both clockwise that second arc panel B can not continue around the second shaft is swung.

The upper surface of first arc panel A is mutually coplanar with the upper surface of the first arc panel B, and the upper surface of the first arc panel A The acute angle constituted with horizontal plane is between 8 degree~12 degree；Inclined plate A is coplanar with inclined plate B；Inclined plate A is constituted sharp with horizontal plane Design of the angle between 40 degree~50 degree is: after container is placed on the first arc panel A and the first arc panel B, due to The acute angle that the upper surface of one arc panel A and horizontal plane are constituted is between 8 degree~12 degree, then container is in self weight gravity lower edge the The inclined surface slide downward of one arc panel A and the first arc panel B；But, inclined plate A and inclined plate B can generate position-limiting action to container, Prevent container from falling down from the first arc panel A and the first arc panel B.The acute angle constituted for inclined plate A and horizontal plane is 40 Requirement between~50 degree of degree, so that container is easier under external force, the inclined-plane along inclined plate A and inclined plate B is oblique to be moved up It is dynamic.

Effect for one-way clutch: in terms of from first gear to the direction of the second arc panel A, one-way clutch is forbidden limiting The rotation counterclockwise of position wheel, allows position-limited wheel to rotate clockwise.

The invention adopts the above technical scheme compared with prior art, has following technical effect that

1, transfer robot structure of the invention is simple, and one time performance carries more than one piece container, substantially increases conveying robot The handling efficiency of people.

2, need at least two motors cooperation running come compared with realizing with the movement of the access container of robot in the prior art, During accessing container, entire executing agency only needs a servo motor, in this way for executing agency in the present invention The manufacturing cost of executing agency of the invention is opposite to be lowered, and the batch production and sale of executing agency of the present invention are conducive to.

3, transfer robot of the invention can make support rod have elevating function by adjusting, so that transfer robot Executing agency can it is larger range of adapt to different height shelf, more improve transfer robot handling efficiency, more mention Storage capacity of the high shelf mechanism to container.

Detailed description of the invention

Fig. 1 is robot entirety and shelf structural scheme of mechanism.

Fig. 2 is the scheme of installation of shelf.

Fig. 3 is the overall schematic of shelf.

Fig. 4 is the diagrammatic cross-section of enclosure interior institute mounting structure.

Fig. 5 is the schematic diagram of institute's mounting structure on pedestal.

Fig. 6 is the scheme of installation of driving mechanism.

Fig. 7 is the scheme of installation of second gear.

Fig. 8 is second gear and the schematic diagram that third gear is meshed.

Fig. 9 is the perspective diagram of fixing sleeve.

Figure 10 is the structural schematic diagram of support rod.

Figure 11 is the diagrammatic cross-section that support rod is slidably mounted on fixing sleeve.

Figure 12 is the scheme of installation of executing agency.

Figure 13 is the installation diagrammatic cross-section of wobble plate and fixed gear.

Figure 14 is the scheme of installation of the second arc panel A and the second arc panel B.

Figure 15 is the partial schematic diagram of institute's mounting structure on the second arc panel A and the second arc panel B.

Figure 16 is scroll spring scheme of installation.

Figure 17 is the scheme of installation of third shaft.

Figure 18 is the scheme of installation of position-limited wheel.

Figure 19 is the top view of executing agency's access container.

Figure 20 is principle (one) schematic diagram of executing agency's picking case.

Figure 21 is principle (two) schematic diagram of executing agency's picking case.

Figure label title: 1, L-type support frame；2, shelf mechanism；3, pedestal；4, shell；5, universal wheel；6, driving machine Structure；7, support rod；8, executing agency；9, transverse slat；10, riser；12, shelf；13, the first support plate；14, the first arc panel A； 15, inclined plate A；16, the first arc panel B；17, inclined plate B；18, the first fixed plate；19, the first L-type plate；21, driving wheel；22, it takes turns Axis；23, the second fixed plate；24, the second motor；25, third fixed plate；26, the second retarder；27, the 4th fixed plate；29, solid Fixed gear；30, first gear；31, first rotating shaft；32, servo motor；33, the second L-type plate；34, wobble plate；35, the second support Plate；36, the second shaft；37, scroll spring；38, link block；39, third shaft；40, one-way clutch；41, position-limited wheel；42, Elastic rake tooth；43, oblique support plate；44, the second arc panel A；45, the second arc panel B；46, A square hole；47, B square hole；48, pacify Fill circular hole；50, annular groove；51, external screw thread；52, lead key；53, fixing sleeve；54, keyway；55, third L-type plate；56, third supports Plate；57, second gear；58, the 4th shaft；59, the first retarder；60, first motor；61, thread bush；62, third gear； 63, middle control module；64, navigation module；67, container.

Specific embodiment

Hereinafter reference will be made to the drawings to describe the present invention；However, it should be understood that these descriptions are merely illustrative, and do not really want It limits the scope of the present disclosure.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessary Obscure the concept of the disclosure in ground.All terms (including technical and scientific term) as used herein are logical with those skilled in the art The meaning often understood, unless otherwise defined.It should be noted that term used herein should be interpreted that with upper and lower with this specification Text consistent meaning, without that should be explained with idealization or excessively mechanical mode.

As shown in Fig. 1,4,7, it include pedestal 3, shell 4, universal wheel 5, driving mechanism 6, support rod 7, executing agency 8, Thread bush 61, first motor 60, fixing sleeve 53, third gear 62, third L-type plate 55 are wherein set on pedestal 3 as shown in Fig. 1,4 There is shell 4；As shown in figure 5, lower surface one end of pedestal 3 is symmetrically installed there are two universal wheel 5, there are two the other end is symmetrically installed Driving mechanism 6；As shown in Fig. 5,7, first motor 60, third L-type plate 55 and fixing sleeve are fixedly installed on 3 upper surface of pedestal 53；As shown in figure 9, symmetrically opening on the inner headed face of fixing sleeve 53, there are two the keyways 54 penetrated through；As shown in Figure 7,8, thread bush 61 One end third L-type plate 55 is mounted on far from one end circular hole of pedestal 3 by bearing, the other end is fixedly installed with third gear 62；First motor 60 drives third gear 62 to rotate by the combination of gear and axis；There is interior spiral shell on the inner headed face of thread bush 61 Line；Thread bush 61 is conllinear with the central axes of fixing sleeve 53；As shown in Figure 10, it is symmetrically installed on one end periphery of support rod 7 Two lead keys 52 have one section of external screw thread 51 on the periphery of support rod 7 and this section of external screw thread 51 are close to lead key 52, support rod 7 One end far from lead key 52 is equably provided with multiple annular grooves 50 along 7 length direction of support rod between external screw thread 51；As Fig. 9,10, Shown in 11, there is support rod 7 one end of lead key 52 be mounted in fixing sleeve 53 by way of being slidably matched, and two lead keys 52 are logical The mode being slidably matched is crossed to be separately mounted in two keyways 54；Support rod 7 is pierced by thread bush 61 and shell 4, and on support rod 7 External screw thread 51 and the internal screw thread of thread bush 61 be mutually threadedly engaged；As shown in Fig. 1,12, pacify at each annular groove 50 of support rod 7 Equipped with an executing agency 8, and executing agency 8 is respectively positioned on 4 upside of shell.

As shown in figure 12, above-mentioned executing agency 8 include wobble plate 34, as shown in figure 14, be fixedly mounted on 34 one end of wobble plate Second support plate 35 on surface, the oblique support plate 43 for being fixedly mounted on 34 side of wobble plate, the second arc panel A44, the second arc panel B45, servo motor 32, as shown in figure 12, fixation gear 29, as shown in figure 16, the scrollwork being fixedly mounted on above-mentioned support rod 7 Spring 37, the second shaft 36, first gear 30, as shown in Figure 13,14, wherein wobble plate 34 opens installation circular hole 48 by one end It covers on the corresponding annular groove 50 of above-mentioned support rod 7, and wobble plate 34 is rotatably assorted with the formation of support rod 7；As shown in figure 14, second turn Axis 36 is mounted in 35 upper end circular hole of the second support plate by bearing, and the both ends of the second shaft 36 are fixedly installed with second respectively Arc panel A44 and the second arc panel B45；The upper surface of second arc panel A44 is mutually coplanar with the upper surface of the second arc panel B45, The center of circle locating for radian of the center of circle locating for the radian of second arc panel A44 with the second arc panel B45 is concentric；Oblique support plate 43 is remote The end face of one end from wobble plate 34 is horizontal plane；As shown in Figure 15,16, the second shaft 36 is equipped with scroll spring 37, when second Arc panel A44 and the second arc panel B45 are when in a horizontal state, and scroll spring 37 is in compressive state；As shown in Figure 13,14, Servo motor 32 is fixedly mounted in wobble plate 34；Fixed gear 29 is close to wobble plate 34；First gear 30 passes through axis and servo motor 32 motor shaft is connected；First gear 30 is meshed with fixed gear 29；Second arc panel A44 and the second arc panel B45 are equal It is matched with the horizontal plane of oblique support plate 43.

As shown in fig. 6, above-mentioned driving mechanism 6 has the second motor 24 and driving wheel 21, the second motor 24 makes driving wheel 21 rotations.

As shown in Figure 1, 2, shelf mechanism 2 includes L-type support frame 1 and shelf 12, as shown in Fig. 2, wherein L-type support frame 1 It is made of transverse slat 9 and riser 10；As shown in Figure 1, 2, it is equably equipped with along the length direction of 1 riser 10 of L-type support frame more A shelf 12.

As shown in figure 3, above-mentioned shelf 12 include the first support plate 13, the first arc panel A14, inclined plate A15, the first arc panel B16, inclined plate B17, the first fixed plate 18, the first L-type plate 19, as shown in Figure 2,3, wherein the fixed peace in one end of the first support plate 13 On the riser 10 of L-type support frame 1, the other end is fixedly installed with the first arc panel A14；One end of first L-type plate 19 is fixed It is mounted on the riser 10 of L-type support frame 1, the other end is fixedly installed with the first fixed plate 18；As shown in figure 3, the first fixed plate 18 one end far from the first L-type plate 19 are fixedly installed with the first arc panel B16；The upper surface of first arc panel A14 and the first arc The upper surface of shape plate B16 is mutually coplanar, and the acute angle that the upper surface of the first arc panel A14 and horizontal plane are constituted is at 8 degree~12 degree Between；The center of circle locating for radian of the center of circle locating for the radian of first arc panel A14 with the first arc panel B16 is concentric；Inclined plate A15 One end be fixedly mounted on the upper surface of the first arc panel A14；One end of inclined plate B17 is fixedly mounted on the first arc panel B16 Upper surface on；The installation point that inclined plate A15 is mounted on the first arc panel A14 is mounted on the peace of the first arc panel B16 with inclined plate B17 It decorates constituted line and the riser 10 of L-type support frame 1 is perpendicular；Inclined plate A15 is coplanar with inclined plate B17；Inclined plate A15 and level The acute angle that face is constituted is between 40 degree~50 degree；Inclined plate A15 is identical with inclined plate B17 size.

In the second arc panel A44 and the second arc panel B45 and corresponding shelf mechanism 2 in above-mentioned respective execution mechanisms 8 First arc panel A14 and the first arc panel B16 are matched；In above-mentioned respective execution mechanisms 8 intrados of second arc panel A44 with Spacing between the extrados of second arc panel B45 is named as D1；First arc panel A14's is interior in above-mentioned corresponding shelf mechanism 2 Spacing between cambered surface and the extrados of the first arc panel B16 is named as D2；D2 is greater than D1.Pass through rationally setting to D2 and D1 Meter, then the second arc panel A and the second arc panel B are passing through the first arc panel A and the first arc in the case where D2 is greater than D1 During spacing between plate B, when the second arc panel A and the second arc panel B surround the axis oscillating of the second shaft 36, the second arc Shape plate A and the second arc panel B will not generate interference with the first arc panel A and the first arc panel B.

As shown in Fig. 1,4, it further includes middle control module 63 and navigation module 64, as shown in Figure 4,5, wherein middle control module 63 It is mounted on above-mentioned pedestal 3, and middle control module 63 is located in shell 4；As shown in figure 4, navigation module 64 is mounted on the outer of shell 4 On side；Middle control module 63 controls above-mentioned servo motor 32, first motor 60 and the second motor 24；Navigation module 64 to robot into Row path navigation and apart from identification.

As shown in Figure 6,7, it further includes second gear 57, the 4th shaft 58, third support plate 56, the first retarder 59, As shown in Figure 6,7, wherein above-mentioned third L-type plate 55 is made of transverse slat 9 and riser 10；Third support plate 56 is fixedly mounted on third On the riser 10 of L-type plate 55；Above-mentioned first motor 60 is located under the transverse slat 9 of third L-type plate 55, and first motor 60 is located at the Under three support plates 56；First motor 60 is located between the riser 10 and above-mentioned fixing sleeve 53 of third L-type plate 55；Above-mentioned third tooth Wheel 62 is located under the transverse slat 9 of third L-type plate 55；First retarder 59 is mounted in first motor 60, and the first retarder 59 It is sequentially connected with 60 phase of first motor；4th shaft 58 is mounted on third support plate 56 far from third L-type plate 55 by bearing In one end circular hole of riser 10, one end of the 4th shaft 58 is connected with the first retarder 59, and the other end is fixedly installed with the second tooth Wheel 57；Second gear 57 is meshed with above-mentioned third gear 62.

As shown in fig. 6, above-mentioned driving mechanism 6 further include the second fixed plate 23, the second retarder 26, third fixed plate 25, It is fixedly mounted on the 4th fixed plate 27, the wheel shaft 22, driving wheel 21 of 3 lower surface of pedestal, as shown in fig. 6, wherein above-mentioned second electricity Machine 24 is fixedly mounted on the lower surface of pedestal 3 by the second fixed plate 23；Second retarder 26 is pacified by third fixed plate 25 On the lower surface of pedestal 3；Second retarder 26 is sequentially connected with 24 phase of the second motor；Wheel shaft 22 is mounted on by bearing In the circular hole of four fixed plates 27, driving wheel 21 is installed in one end of wheel shaft 22, and the other end is connected with the output end of the second retarder 26.

As shown in Figure 13,14, above-mentioned executing agency 8 further includes first rotating shaft 31, the second L-type plate 33, A square hole 46, B square hole 47, link block 38, third shaft 39, one-way clutch 40, position-limited wheel 41, as shown in Figure 13,14, wherein the second L-type plate 33 One end is fixedly mounted on the upper surface of above-mentioned wobble plate 34, and the second L-type plate 33 is close to above-mentioned support rod 7；Above-mentioned servo motor 32 are located at the upper surface of wobble plate 34；First rotating shaft 31 is mounted on one end circular hole of the second L-type plate 33 far from wobble plate 34 by bearing In, one end of first rotating shaft 31 and the motor shaft of servo motor 32 are fixedly connected with；Above-mentioned first gear 30 is fixedly mounted on first turn On the one end of axis 31 far from servo motor 32.

As shown in Figure 15,16, above-mentioned scroll spring 37 is two；Two scroll springs 37 are covered in above-mentioned second shaft 36 On, two scroll springs 37 are located at the two sides of above-mentioned second support plate 35, two scroll springs 37 be located at the second arc panel A44 and Between second arc panel B45；Periphery of the one end of two scroll springs 37 respectively with the second shaft 36 is fixedly connected with, the other end point Not Tong Guo link block 38 be mounted in the respective side of above-mentioned second support plate 35.

As shown in figure 14, the A square hole 46 of perforation is provided on above-mentioned second arc panel A44；It is opened on above-mentioned second arc panel B45 There is the B square hole 47 of perforation；A square hole 46 and B square hole 47 are located at the two sides of above-mentioned second support plate 35；In A square hole 46 and B square hole 47 Institute's mounting structure is identical, for A square hole 46: as shown in Figure 17,18, third shaft 39 is mounted between 46 two sides of A square hole；It is single It is mounted on to clutch 40 on the periphery of third shaft 39, position-limited wheel 41 is installed on the periphery of one-way clutch 40；Limit Position 41 part peripheries of wheel are pierced by the upper surface of the second arc panel A44, and position-limited wheel 41 is pierced by the upper surface of the second arc panel A44 The distance of highest point to the upper surface of the second arc panel A44 is suitable between 1 millimeter~3 millimeters.Such design is so that container 67 nowel faces can be in contact substantially with the upper surface of the upper surface of the second arc panel A, the second arc panel B, the nowel face of container 67 It can generate to squeeze with position-limited wheel 41 and contact, so that there are larger frictions between container 67 and position-limited wheel 41.

As shown in figure 14, the above-mentioned one end of second arc panel A44 far from oblique support plate 43 to the second shaft 36 distance, it is small In the second arc panel A44 is close to one end of oblique support plate 43 to the distance of the second shaft 36；Above-mentioned second arc panel B45 is separate One end of oblique support plate 43 is less than to the distance of the second shaft 36, and the second arc panel B45 is close to one end of oblique support plate 43 to The distance of two shafts 36.The reason of designing in this way is: in utilization the second arc panel A44 and the second arc panel B45 in shelf 12 When upper progress picking, before the contact B point that is connected to guarantee the second shaft 36 with the second arc panel A44 is located at 67 center of gravity of container End, and 67 rear end of container can also be supported by the second arc panel A44 and the second arc panel B45, so setting the second arc The both ends distance of plate A44 and the second arc panel B45.

As shown in figure 18, elastic rake tooth 42 is circumferentially evenly distributed on the periphery of above-mentioned position-limited wheel 41.Elastic triangle Tooth 42 can increase limit when may slide downwards to container 67, further prevent container 67 from the second arc panel A and the second arc It is slided down on shape plate B.In addition, since elastic rake tooth 42 has elasticity, then under the weight of container 67, elastic rake tooth 42 are also easy to further decrease the nowel face of container 67 caused by supporting container 67 due to elastic rake tooth 42 by compressive deformation The case where reducing with the CONTACT WITH FRICTION area of the second arc panel A, the second arc panel B, relatively ensure that the nowel face of container 67 There is biggish CONTACT WITH FRICTION area with the second arc panel A, the second arc panel B.

When the second arc panel A44 is when in a horizontal state, the upper surface of above-mentioned second arc panel A44 is higher than the second support plate 35 end faces far from wobble plate 34；When the second arc panel surrounds the axis oscillating of the second shaft 36, the second support plate 35 is far from pendulum One end of plate 34 does not pass through the upper surface of the second arc panel always.

The upper surface of above-mentioned second arc panel A44 and the second arc panel B45 are rubbing surface.Such design is, when When container 67 is located on the upper surface of the second arc panel A and the second arc panel B, it is in the second arc panel A and the second arc panel B When heeling condition, under this state, since the upper surface of the second arc panel A44 and the second arc panel B45 are rubbing surface, container 67 By the friction between the second arc panel A44, the second arc panel B45 without from the second arc panel A44 and the second arc panel B45 slides.

When the second arc panel A44 is when in a horizontal state, the upper surface of above-mentioned second arc panel A44 is higher than the second support plate 35 end faces far from wobble plate 34；When the second arc panel surrounds the axis oscillating of the second shaft 36, the second support plate 35 is far from pendulum One end of plate 34 does not pass through the upper surface of the second arc panel always.Such design requirement is: the second arc panel A and second Arc panel B is during the spacing across the first arc panel A and the first arc panel B, the second arc panel A and the second arc panel When B surrounds the axis oscillating of the second shaft 36, the second arc panel A and the second arc panel B can generate container 67 and push and support Effect, second one end of support plate 35 far from wobble plate 34 will not guarantee the second arc panel A and the with the nowel face contact of container 67 Two arc panel B smoothly can access goods on shelf 12 to container 67.

Navigation module 64 of the invention can obtain the routing information from current location to target position.It is disclosed in the present invention In implementing procedure, navigation positioning module can be laser navigation, two-dimension code navigation, indoor positioning inertial navigation or tape navigation Etc. modes, navigation positioning module make robot obtain automatically current location to target position routing information or distance, it is real Existing robot carries out access container 67 according to routing information and distance.The specific navigation that the unlimited navigation module 64 processed of the present invention uses Mode, as long as can be realized robot autonomous navigation, those skilled in the art can specifically set according to practical situations Navigation mode.

Middle control module 63 of the invention can be according to the routing information, range information, 67 information of picking case, stock received 67 information of case etc. is analyzed, and is then controlled respectively servo motor 32, first motor 60 and the second motor 24.The present invention Middle control module 63 do not limit in control module 63 use specifying information processing mode, as long as can be realized robot autonomous access Container 67, those skilled in the art can specifically set according to practical situations.

Workflow of the invention:

Straight line walking for robot of the invention: when navigation module 64 needs robot linear rows according to routing information When walking, navigation module 64 sends routing information to middle control module 63, middle control module 63 analyzed after to two driving mechanisms 6 The second motor 24 controlled respectively；In the walking of robot straight line, the output of the second motor 24 in two driving mechanisms 6 Power is identical, for the transmission process of one of driving mechanism 6: the second motor 24 drives through the second retarder 26 and wheel shaft 22 Driving wheel 21 rotates；In the walking of robot straight line, 21 rotation speed of driving wheel in two driving mechanisms 6 is identical, exists in this way Under the driving of two driving mechanisms 6 and under the automatic cooperation of two universal wheels 5, robot realizes straight line walking.

For the steering during robot ambulation of the invention: when navigation module 64 needs robot according to routing information When continuing to turn to, navigation module 64 sends routing information to middle control module 63, and middle control module 63 drives two after being analyzed Second motor 24 of motivation structure 6 is controlled respectively；The second motor when robot is turned to and walked, in two driving mechanisms 6 24 output power is different, then 21 rotation speed of driving wheel in two driving mechanisms 6 is different, in this way in two driving mechanisms Under 6 driving and under the automatic cooperation of two universal wheels 5, robot, which realizes, to be turned to.

When robot ambulation is to close to the position of shelf mechanism 2, navigation module 64 recognizes the distance of setting, and navigate mould Distance signal is passed to middle control module 63 by block 64, and middle control module 63 controls two driving mechanisms 6 and robot is made to stop setting Position.The setting position of robot stopping arrival frame mechanism 2: as shown in figure 19, the central axes of the support rod 7 in robot are worn Cross the center of circle locating for the radian of the first arc panel B16.Such status requirement makes, and the wobble plate 34 in executing agency 8 is around branch When the central axes of strut 7 are swung, the second arc panel A44 and the second arc panel B45 in executing agency 8 can be passed through in shelf 12 Spacing between first arc panel A14 and the first arc panel B16.

When robot needs picking case 67, in the executing agency 8 of the lower side on support rod 7 and L-type support frame 1 most The shelf 12 of downside match for picking: from the point of view of level, in Figure 20 shown in (a), it is assumed that the second arc panel A44 with The connected point of second shaft 36 is B point, and endpoint of the inclined plate B17 far from the first arc panel B16 is A point, and the focus point of container 67 is C Point.Container 67 is placed on the upper surface of the first arc panel A14 and the first arc panel B16, and container 67 follows the first arc panel A14 Inclined with the first arc panel B16, container 67 is blocked by inclined plate A15 and inclined plate B17.Prepare picking in executing agency 8 Before case 67, in the vertical direction, A point is lower than B point, and B point is lower than C point；As shown in figure 12, the second arc panel A44 and the second arc Shape plate B45 is when in a horizontal state, and scroll spring 37 is in pre-compressed state, the second lower surface arc panel A44 and the second arc Horizontal plane of the lower surface of plate B45 with oblique support plate 43 fits.

The second arc panel A44 and B point are set apart from short one end as front edge of board, the second arc panel A44 and B point distance One end is plate rear end.When container 67 is placed on the first arc panel B16, one end that 67 lower surface of container is in contact with inclined plate B17 For goods front end, the one end of 67 lower surface of container far from inclined plate B17 is goods rear end.If container 67 is along the second arc panel A44's When upper face slide downward, container 67 is by friction so that 41 direction of rotation of position-limited wheel is counterclockwise.

After middle control module 63 receives information and the analysis of picking case 67, middle control module 63 controls servo motor 32 and starts； As shown in figure 19, first gear 30 is viewed from above at this time, and servo motor 32 drives first gear 30 to revolve counterclockwise through first rotating shaft 31 Turn, then first gear 30 can revolve counterclockwise around fixed 29 periphery of gear, first gear 30 is through first rotating shaft 31, second L-type plate 33 drives wobble plate 34 to rotate counterclockwise around the central axes of support rod 7, and institute's mounting structure follows wobble plate 34 in wobble plate 34 Movement, then the second arc panel A44 and the second arc panel B45 is to the first arc panel A14 and the first direction arc panel B16 with level Mode rotate the past counterclockwise.Since the second shaft 36 can be such that the second arc panel A44 and the second arc panel B45 moves synchronously, Position-limited wheel 41 on second arc panel A44, the second arc panel B45 is identical with the effect of one-way clutch 40, to describe the second arc For shape plate A44 and position-limited wheel 41 and one-way clutch 40 on the second arc panel A44: in Figure 20 shown in (a), in the second arc Shape plate A44 follows wobble plate 34 in a manner of horizontal in rotary course counterclockwise, and the second arc panel A44 is progressed into the first arc Between plate A14 and the first arc panel B16 in spacing；As the second arc panel A44 continues to rotate counterclockwise in a manner of horizontal, the The front edge of board of two arc panel A44 can be in contact with the lower surface of container 67；In Figure 20 shown in (b), the second arc panel A44 continues It is rotated counterclockwise in a manner of horizontal, so that extruding of the front edge of board of the second arc panel A44 by 67 lower surface of container, the second arc Shape plate A44 surrounds B point counter-clockwise swing, and the continuation of scroll spring 37 is compressed；As the second arc panel A44 continues with horizontal side Formula rotates counterclockwise, and position-limited wheel 41 is mutually squeezed with 67 lower surface of container and contacted, since position-limited wheel 41 is pierced by the second arc panel A44 The distance on surface is at 1 millimeter~3 millimeters, and the angle that position-limited wheel 41 supports container 67 is minimum, or even ignores, then second The upper surface of arc panel A44 can fit substantially with 67 lower surface of container.In Figure 21 shown in (a), with the second arc panel A44 Continue to rotate counterclockwise in a manner of horizontal, then the second arc panel A44 can give the motive force of 67 horizontal direction of container, container 67 Goods front end slided obliquely along the inclined plate face of inclined plate B17, the goods rear end of container 67 along the first arc panel B16 upper surface Oblique lower slider, the upper surface of the second arc panel A44 can fit with 67 lower surface of container substantially always during this, guarantee the Two arc panel A44 can persistently give the motive force of 67 1 horizontal directions of container；During this, relatively, container 67 is in the second arc It is slided backward on the upper surface of shape plate A44, under the action of one-way clutch 40, position-limited wheel 41 allows to rotate clockwise, limit Limit will not be generated by taking turns moving back for 41 pairs of containers 67, and B point is located at the front side of C point in the horizontal direction, and A point is located on front side of B point.

After the goods front end of container 67 is moved to a certain extent obliquely along inclined plate B17, the goods front end of container 67 is from inclined plate It is detached from the A point of B17, the goods rear end of container 67 is also contacted with the first arc panel B16, and container 67 is still in skewed at this time State, the upper surface of the second arc panel A44 still fit with 67 lower surface of container substantially, the elastic rake tooth 42 on position-limited wheel 41 It is contacted with the extruding of 67 following table surface elastic of container, the angle that position-limited wheel 41 supports container 67 is minimum, or even ignores； Under this state, the upper surface of the second arc panel A44 is that rubbing surface and one-way clutch 40 forbid position-limited wheel 41 to revolve counterclockwise Turn, position-limited wheel 41 and rubbing surface be avoided that container 67 may slide downward the case where, guarantee that container 67 is stablized in the second arc panel On A44 and the first arc panel B16.

In Figure 21 shown in (b), as the second arc panel A44 continues to rotate counterclockwise in a manner of horizontal, the second arc Plate A44 drives container 67 to move in the horizontal direction by the frictional force between container 67, the goods rear end of container 67 Still along the oblique lower slider in upper surface of the first arc panel B16, container 67 is gradually converted into horizontality from heeling condition；By In the reset response of scroll spring 37, the upper surface of the second arc panel A44 is able to maintain to be affixed with 67 lower surface of container substantially always It closes, then the second arc panel A44 is also gradually converted into horizontality from heeling condition；During this, relatively, container 67 is Opposing stationary on two arc panel A44, B point is located at the front side of C point in the horizontal direction, and B point advances up to A point and crosses A point.When When container 67 is changed into horizontality, the second arc panel A44 is also at horizontality, and the center of gravity C point of container 67 is located at the at this time Behind the B point of two arc panel A44, scroll spring 37 is returned to original state.Horizontality is in the second arc panel A44 When, the horizontal face contact of the second arc panel A44 and oblique support plate 43, then oblique support plate 43 can play the second arc panel A44 Good supporting role.Since the center of gravity C point of container 67 is located at behind the B point of the second arc panel A44, and in oblique support plate 43 To under the support of the second arc panel A44, just level is stably placed on the second arc panel A44 container 67, and container 67 will not make Second arc panel A44 surrounds B point counter-clockwise swing, and container 67 will not be fallen down from the second arc panel A44.

In Figure 21 shown in (b), as the second arc panel A44 continues to rotate counterclockwise in a manner of horizontal, the second arc Plate A44 removes container 67 from the first arc panel B16.

Finally, the second arc panel A44 and the second arc panel are driven through the second support plate 35, the second shaft 36 in wobble plate 34 Under B45 is rotated counterclockwise in a manner of horizontal, the second arc panel A44 and the second arc panel B45 can be by containers 67 from the first arc It is removed on plate A14 and the first arc panel B16.After the second arc panel A44 and the second arc panel B45 remove container 67 completely, Wobble plate 34 drives drives the second arc panel A44 and the second arc panel B45 with horizontal side through the second support plate 35, the second shaft 36 After formula rotates counterclockwise to the surface of robot shell 4, middle control module 63 stops servo motor 32, and first gear 30 is not The rotation of another mistake hour hands, the movement of picking case 67 finish.

When the needs of container 67 are placed on shelf 12 from executing agency 8, when position of robot of the present invention and picking, stops Position only is identical, equally matches stock with the shelf 12 of lower side in L-type support frame 1 with the executing agency 8 of lower side and is Example: container 67 is placed on the upper surface of the second arc panel A44 and the second arc panel B45, and container 67 follows the first arc panel A14 It is in a horizontal state with the first arc panel B16, scroll spring 37 is in compressive state, the second lower surface arc panel A44 and the second arc Horizontal plane of the lower surface of shape plate B45 with oblique support plate 43 fits.Before executing agency 8 prepares stock case 67, perpendicular Histogram is upward, and A point is still lower than B point, and B point is still lower than C point.

After middle control module 63 receives information and the analysis of stock case 67, middle control module 63 controls servo motor 32 and starts； As shown in figure 19, first gear 30 is viewed from above at this time, and servo motor 32 drives first gear 30 to revolve clockwise through first rotating shaft 31 Turn, then first gear 30 can revolve clockwise around fixed 29 periphery of gear, first gear 30 is through first rotating shaft 31, second L-type plate 33 drives wobble plate 34 to rotate clockwise around the central axes of support rod 7, and institute's mounting structure follows wobble plate 34 in wobble plate 34 Movement, then the second arc panel A44 and the second arc panel B45 is to the first arc panel A14 and the first direction arc panel B16 with level Mode rotate clockwise over.Since the second shaft 36 can be such that the second arc panel A44 and the second arc panel B45 moves synchronously, Position-limited wheel 41 on second arc panel A44, the second arc panel B45 is identical with the effect of one-way clutch 40, to describe the second arc For shape plate A44 and position-limited wheel 41 and one-way clutch 40 on the second arc panel A44: following wobble plate in the second arc panel A44 During 34 are rotated clockwise in a manner of horizontal, the second arc panel A44 is progressed into the first arc panel A14 and the first arc Between plate B16 in spacing；As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, the plate of the second arc panel A44 It rear end meeting and is introduced between the first arc panel A14 and the first arc panel B16 in spacing；As the second arc panel A44 continues Rotated clockwise in a manner of horizontal so that the goods rear end of the container 67 on the second arc panel A44 it is basic simultaneously with the first arc The upper surface of plate A14, the first arc panel B16 upper surface be in contact.As the second arc panel A44 continuation is suitable in a manner of horizontal Hour hands rotation, the second arc panel A44 gives container 67 1 horizontal impulses, so that the goods rear end of container 67 is along the first arc panel The upper surface of A14 and the first arc panel B16 are slided obliquely, and the goods front end of container 67 is located at the upper surface of the second arc panel A44 It is upper and stationary relative to the second arc panel A44；Container 67 is gradually varied to heeling condition, goods from horizontality during this The gradually inclination of case 67 is so that the second arc panel A44 surrounds B point counter-clockwise swing, and the continuation of scroll spring 37 is compressed, the second arc Lower surface of the upper surface of shape plate A44 substantially with container 67 fits, under the elastic rake tooth 42 on position-limited wheel 41 and container 67 Surface is still in the state that elasticity squeezes contact, and the angle that position-limited wheel 41 supports container 67 is minimum, or even ignores Disregard；Under this state, the upper surface of the second arc panel A44 is that rubbing surface and one-way clutch 40 forbid 41 inverse time of position-limited wheel Needle rotation, position-limited wheel 41 and rubbing surface are avoided that the case where 67 possibility slide downward of container, guarantee that container 67 is in heeling condition It is slid on the second arc panel of Shi Buhui A44.

As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, the second arc panel A44 persistently gives container 67 One horizontal impulse, so that the goods rear end of container 67 continues along the upper surface of the first arc panel A14 and the first arc panel B16 Slide obliquely, the inclination of container 67 gradually make the lower surface of container 67 gradually with the first arc panel A14 and the first arc panel The upper surface of B16 is parallel, and B point can cross A point, and 67 goods rear end of container is in the case where following the second arc panel A44 to move, goods Rear end can also cross A point and cross inclined plate B17；As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, when the The front edge of board of two arc panel A44 is behind the upper surface of the first arc panel A14 and the first arc panel B16, and 67 goods rear end of container is not It is in contact again with the upper surface of the second arc panel A44, but is detached from and is fallen in the first arc panel A14 from the second arc panel A44 With the upper surface of the first arc panel B16, the goods front end and goods rear end of such container 67 are all in the first arc panel A14 and the first arc The upper surface of plate B16, final container 67 is under self gravity along the upper surface of the first arc panel A14 and the first arc panel B16 Oblique lower slider, until container 67 is blocked by inclined plate A15 and inclined plate B17.

As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, in the second arc panel A44 from the first arc After progressively disengaging between plate A14 and the first arc panel B16, under the reset response of scroll spring 37, the second arc panel A44 is surrounded B point clockwise oscillation is to the home position of horizontality.Second arc panel B45 also can be under the reset of scroll spring 37 and second Arc panel A44 synchronizes clockwise oscillation to the home position of horizontality.

Finally, wobble plate 34, which drives, drives the second arc panel A44 and the second arc panel through the second support plate 35, the second shaft 36 After B45 is rotated clockwise to the surface of robot shell 4 in a manner of horizontal, middle control module 63 stops servo motor 32 Only, first gear 30 no longer rotates clockwise, and the movement of stock case 67 finishes.

When setting thread bush 61 rotates clockwise, the internal screw thread phase spiral shell of external screw thread 51 and thread bush 61 on support rod 7 Under line cooperation, support rod 7 is axially upwardly moved.

When occur executing agency 8 be three, and shelf 12 be four when, the executing agency 8 in 7 top side of support rod Height can not match with the shelf 12 of the top side in L-type support frame 1, and the executing agency 8 of top side can not be to top side Shelf 12 carry out access goods.In order to enable the executing agency 8 of top side to carry out access goods to the shelf 12 of top side, so this Third L-type plate 55, third support plate 56, second gear 57, the 4th shaft 58, the first retarder 59, first has also been devised in invention Motor 60, thread bush 61 and third gear 62 go up and down support rod 7.The rising of support rod 7 so that top side execution Mechanism 8 can the shelf 12 to top side carry out access goods.It is support rod 7 that support rod 7, which has the original state of one end of lead key 52, One end with lead key 52 is located at the bottom of fixing sleeve 53 and is in contact with the upper surface of pedestal 3.The process that support rod 7 rises: After middle control module 63 receives the information for rising support rod 7 and analysis, middle control module 63 controls first motor 60 and starts；First electricity Machine 60 drives third gear 62 to rotate clockwise through the first retarder 59, the 4th shaft 58 and second gear 57, third gear 62 Thread bush 61 is driven to rotate clockwise, then the internal screw thread of the external screw thread 51 on support rod 7 and thread bush 61 is mutually threadedly engaged Under, support rod 7 axially upwardly moves；After the top side executing agency 8 on support rod 7 rises to the height of needs, middle control mould Block 63, which controls first motor 60, to be stopped, and then third gear 62 and thread bush 61 no longer rotate clockwise, at this time thread bush 61 For external screw thread 51 on internal screw thread and support rod 7 under the action of screw thread self-locking, the position where support rod 7 is locked, guarantees most Upside executing agency 8, which can stablize, carries out access goods with top side shelf 12.When support rod 7 needs to decline mobile reset, middle control Module 63 controls first motor 60 and inverts, and first motor 60 drives through the first retarder 59, the 4th shaft 58 and second gear 57 Third gear 62 rotates counterclockwise, and third gear 62 drives thread bush 61 to rotate counterclockwise, then the external screw thread on support rod 7 51 are mutually threadedly engaged down with the internal screw thread of thread bush 61, and support rod 7 is mobile axially downwards to be resetted, and reset to initially in support rod 7 Behind position, middle control module 63 controls first motor 60 and stops.During support rod 7 is gone up and down, two lead keys 52 follow always Person's support rod 7 moves up and down in corresponding keyway 54, and two lead keys 52 will not be detached from fixing sleeve 53, guarantees branch Strut 7 can not be rotated, and support rod 7 is made to be able to achieve lifting.

Relative to traditional carrying automatic technology, transfer robot of the invention can pass through the phase on control support rod It answers executing agency to carry out access goods movement come the shelf to the different height in L-type support frame, enables transfer robot primary Property carry more than one piece cargo, to improve the handling efficiency of transfer robot.Pass through second gear, the 4th shaft, first motor, spiral shell The design of line set and third gear, can make support rod have the function of lifting, thus corresponding executing agency on support rod By way of lifting and the shelf of higher height carry out access goods, so transfer robot can more efficiently from different shelf mechanisms Cooperated, more improves the handling efficiency of transfer robot, more storage capacity of the raising shelf mechanism to container.Knot of the present invention Structure is simple, has preferable using effect.

Claims

1. a kind of transfer robot, it is characterised in that: it includes pedestal, shell, universal wheel, driving mechanism, support rod, execution machine Structure, thread bush, first motor, fixing sleeve, third gear, third L-type plate, wherein pedestal is equipped with shell；The lower surface of pedestal One end is symmetrically installed there are two universal wheel, and the other end is symmetrically installed that there are two driving mechanisms；It is fixedly installed on base upper surface First motor, third L-type plate and fixing sleeve；The keyway penetrated through there are two symmetrically being opened on the inner headed face of fixing sleeve；The one of thread bush End is mounted on third L-type plate far from one end circular hole of pedestal by bearing, and the other end is fixedly installed with third gear；First electricity Machine drives the rotation of third gear by the combination of gear and axis；There is internal screw thread on the inner headed face of thread bush；Thread bush and fixation The central axes of set are conllinear；It is symmetrically installed on one end periphery of support rod there are two lead key, has one on the periphery of support rod Section external screw thread and this section of external screw thread is close to lead key, the one end of support rod far from lead key between external screw thread along support rod length direction Equably it is provided with multiple annular grooves；There is support rod one end of lead key to be mounted in fixing sleeve by way of being slidably matched, and two Lead key is separately mounted in two keyways by way of being slidably matched；Support rod is pierced by thread bush and shell, and on support rod The internal screw thread of external screw thread and thread bush be mutually threadedly engaged；One executing agency is installed at each annular groove of support rod, and Executing agency is respectively positioned on the upside of shell；

Above-mentioned executing agency includes wobble plate, the second support plate for being fixedly mounted on wobble plate one end upper surface, is fixedly mounted on wobble plate The oblique support plate of side, the second arc panel A, the second arc panel B, servo motor, the fixation being fixedly mounted on above-mentioned support rod Gear, scroll spring, the second shaft, first gear, wherein wobble plate is opened installation circular hole by one end and is covered in above-mentioned support rod Corresponding annular groove on, and the formation of wobble plate and support rod is rotatably assorted；Second shaft is mounted on the second support plate upper end by bearing In circular hole, and the both ends of the second shaft are fixedly installed with the second arc panel A and the second arc panel B respectively；Second arc panel A's is upper Surface is mutually coplanar with the upper surface of the second arc panel B, the arc in the center of circle locating for the radian of the second arc panel A and the second arc panel B The locating center of circle of degree is concentric；The end face of the one end of oblique support plate far from wobble plate is horizontal plane；Second shaft is equipped with scroll spring, When the second arc panel A and the second arc panel B are when in a horizontal state, scroll spring is in compressive state；The fixed peace of servo motor In wobble plate；Fixed gear is close to wobble plate；First gear is connected by axis with the motor shaft of servo motor；First gear with Fixed gear is meshed；Second arc panel A and the second arc panel B are matched with the horizontal plane of oblique support plate；

2. a kind of with a kind of shelf mechanism that transfer robot matches according to claim 1, it is characterised in that: shelf Mechanism includes L-type support frame and shelf, and wherein L-type support frame is made of transverse slat and riser；Along the length side of L-type support frame riser Multiple shelf are equably installed upwards；

Above-mentioned shelf include the first support plate, the first arc panel A, inclined plate A, the first arc panel B, inclined plate B, the first fixed plate, the One L-type plate, wherein one end of the first support plate is fixedly mounted on the riser of L-type support frame, the other end is fixedly installed with first Arc panel A；One end of first L-type plate is fixedly mounted on the riser of L-type support frame, and it is fixed that the other end is fixedly installed with first Plate；First fixed plate is fixedly installed with the first arc panel B far from one end of the first L-type plate；The upper surface of first arc panel A and The upper surface of one arc panel B is mutually coplanar, and the acute angle that the upper surface of the first arc panel A and horizontal plane are constituted is at 8 degree~12 degree Between；The center of circle locating for radian of the center of circle locating for the radian of first arc panel A with the first arc panel B is concentric；One end of inclined plate A It is fixedly mounted on the upper surface of the first arc panel A；One end of inclined plate B is fixedly mounted on the upper surface of the first arc panel B；Tiltedly Plate A is mounted on the installation point of the first arc panel A and inclined plate B is mounted on the line and L-type that the installation point of the first arc panel B is constituted The riser of support frame is perpendicular；Inclined plate A is coplanar with inclined plate B；The acute angle that inclined plate A and horizontal plane are constituted 40 degree~50 degree it Between；Inclined plate A is identical with inclined plate B size.

3. a kind of transfer robot according to claim 1 or 2, it is characterised in that: in above-mentioned respective execution mechanisms Two arc panel A and the second arc panel B in corresponding shelf mechanism the first arc panel A and the first arc panel B match；Above-mentioned phase The spacing in executing agency between the intrados of the second arc panel A and the extrados of the second arc panel B is answered to be named as D1；Above-mentioned phase The spacing in shelf mechanism between the intrados of the first arc panel A and the extrados of the first arc panel B is answered to be named as D2；D2 is greater than D1。

4. a kind of transfer robot according to claim 1, it is characterised in that: it further includes middle control module and navigation mould Block, wherein middle control module is mounted on above-mentioned pedestal, and middle control module is located in shell；Navigation module is mounted on the outside of shell On；Middle control module controls above-mentioned servo motor, first motor and the second motor；Navigation module to robot carry out path navigation and Distance identification.

5. a kind of transfer robot according to claim 1, it is characterised in that: it further include second gear, the 4th shaft, Third support plate, the first retarder, wherein above-mentioned third L-type plate is made of transverse slat and riser；Third support plate is fixedly mounted on On the riser of third L-type plate；Above-mentioned first motor is located under the transverse slat of third L-type plate, and first motor is located at third support Under plate；First motor is located between the riser and above-mentioned fixing sleeve of third L-type plate；Above-mentioned third gear is located at third L-type plate Transverse slat under；First retarder is mounted in first motor, and the first retarder is mutually sequentially connected with first motor；4th turn Axis is mounted in one end circular hole of riser of the third support plate far from third L-type plate by bearing, one end of the 4th shaft and the One speed reducer is connected, and the other end is fixedly installed with second gear；Second gear is meshed with above-mentioned third gear.

6. a kind of transfer robot according to claim 1, it is characterised in that: above-mentioned driving mechanism further includes second fixed Plate, the second retarder, third fixed plate, the 4th fixed plate for being fixedly mounted on base lower surface, wheel shaft, driving wheel, wherein on The second motor is stated to be fixedly mounted on the lower surface of pedestal by the second fixed plate；Second retarder is installed by third fixed plate On the lower surface of pedestal；Second retarder is mutually sequentially connected with the second motor；Wheel shaft is mounted on the 4th fixed plate by bearing Circular hole in, driving wheel is installed in one end of wheel shaft, and the other end is connected with the output end of the second retarder.

7. a kind of transfer robot according to claim 1, it is characterised in that: above-mentioned executing agency further includes first turn Axis, the second L-type plate, A square hole, B square hole, link block, third shaft, one-way clutch, position-limited wheel, wherein the one of the second L-type plate End is fixedly mounted on the upper surface of above-mentioned wobble plate, and the second L-type plate is close to above-mentioned support rod；Above-mentioned servo motor is located at wobble plate Upper surface；First rotating shaft is mounted on the second L-type plate far from one end circular hole of wobble plate by bearing, one end of first rotating shaft with The motor shaft of servo motor is fixedly connected with；Above-mentioned first gear is fixedly mounted on first rotating shaft far from one end of servo motor；

Above-mentioned scroll spring is two；Two scroll springs cover in above-mentioned second shaft, and two scroll springs are located at above-mentioned The two sides of second support plate, two scroll springs are between the second arc panel A and the second arc panel B；Two scroll springs Periphery of the one end respectively with the second shaft is fixedly connected with, and the other end passes through the phase that link block is mounted on above-mentioned second support plate respectively It answers on side；

The A square hole of perforation is provided on above-mentioned second arc panel A；The B square hole of perforation is provided on above-mentioned second arc panel B；A square hole and B square hole is located at the two sides of above-mentioned second support plate；A square hole is identical with institute's mounting structure in B square hole, for A square hole: third shaft It is mounted between A square hole two sides；One-way clutch is mounted on the periphery of third shaft, on the periphery of one-way clutch Position-limited wheel is installed；Position-limited wheel part periphery is pierced by the upper surface of the second arc panel A；

The above-mentioned one end of second arc panel A far from oblique support plate is less than to the distance of the second shaft, and the second arc panel A is close to tiltedly Distance of the one end of support plate to the second shaft；The above-mentioned one end of second arc panel B far from oblique support plate to the second shaft away from From being less than, the second arc panel B is close to one end of oblique support plate to the distance of the second shaft.

8. a kind of transfer robot according to claim 7, it is characterised in that: circumferential equal on the periphery of above-mentioned position-limited wheel The even flexible rake tooth of distribution.

9. a kind of transfer robot according to claim 1, it is characterised in that: when the second arc panel A is in horizontality When, the upper surface of above-mentioned second arc panel A is higher than end face of second support plate far from wobble plate；When the second arc panel surrounds second turn When the axis oscillating of axis, the one end of the second support plate far from wobble plate does not pass through the upper surface of the second arc panel always.

10. a kind of transfer robot according to claim 1, it is characterised in that: above-mentioned second arc panel A and the second arc The upper surface of plate B is rubbing surface.